EP3694759B1 - Système de commande pour véhicule automobile, véhicule automobile, procédé de commande d'un véhicule automobile, produit programme informatique et support lisible par ordinateur - Google Patents

Système de commande pour véhicule automobile, véhicule automobile, procédé de commande d'un véhicule automobile, produit programme informatique et support lisible par ordinateur Download PDF

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Publication number
EP3694759B1
EP3694759B1 EP18785870.9A EP18785870A EP3694759B1 EP 3694759 B1 EP3694759 B1 EP 3694759B1 EP 18785870 A EP18785870 A EP 18785870A EP 3694759 B1 EP3694759 B1 EP 3694759B1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
controller
function
control system
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18785870.9A
Other languages
German (de)
English (en)
Other versions
EP3694759A1 (fr
Inventor
Nikolaus Decius
Ulrich KÖHLER
Carsten KÜGELER
Sergey Orlov
Jürgen GEBERT
Peter GRABS
Matthias KORTE
Josua BLOTT
Michael Claus
Heiko Lerch
Sebastian Ludolph
Martin Ott
Sebastian SURMUND
Pascal VOLLMER
Martin ZILLGEN
Sven HILLENKÖTTER
Martin Hopf
Joachim ÖCHSNER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hella GmbH and Co KGaA
Original Assignee
Hella GmbH and Co KGaA
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Publication of EP3694759A1 publication Critical patent/EP3694759A1/fr
Application granted granted Critical
Publication of EP3694759B1 publication Critical patent/EP3694759B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/023—Avoiding failures by using redundant parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/402—Back-up
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/413—Plausibility monitoring, cross check, redundancy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0006—Digital architecture hierarchy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/021—Means for detecting failure or malfunction

Definitions

  • the present invention relates to a control system for a motor vehicle according to the preamble of claim 1, a motor vehicle according to the preamble of claim 6, a method for controlling a motor vehicle according to the preamble of claim 7, a computer program product and a computer-readable medium.
  • Such control systems for motor vehicles, motor vehicles, methods for controlling motor vehicles, computer program products and computer-readable media are already known from the prior art in numerous design variants.
  • a control system for a motor vehicle comprising a first control device designed as a brake control device for controlling a first function of the motor vehicle designed as a braking function, a second control device designed as a steering control device for controlling a second function of the motor vehicle designed as a steering function and a reserve control device designed as a central control device, wherein the brake control device and the steering control device are each connected to at least one sensor and / or at least one actuator in a signal-transmitting manner, and wherein the brake control device is connected to the central control device in a signal-transmitting manner.
  • emergency braking is initiated and controlled by the central control device.
  • the present invention is based on the object of ensuring the correct execution of functions of a motor vehicle that are controlled by means of control devices, even in the case of a faulty control device, with as little additional effort as possible.
  • An essential advantage of the invention is, in particular, that functions of a motor vehicle that differ from one another and are controlled by means of control devices can continue to be reliably executed with as little additional effort as possible, even in the event of a fault in one of the control devices. At least two functions of the motor vehicle that differ from one another and are each controlled by a control unit are continued in the event of a fault in one of the two control units, without a reserve control unit or the like having to be kept for both control units. Accordingly, it is possible to save installation space and weight as well as to reduce costs. This is very important especially in modern motor vehicles with a high degree of electrically and electronically designed functionality, that is to say a large number of functions controlled by means of control devices.
  • the control system not only ensures the execution of a first function in the case of a faulty first control device or the execution of a second function in the case of a faulty second control device, at least in an emergency mode of the respective function, but also enables the execution of the first and the second function, at least in an emergency operation, with a faulty first and faulty second control unit at the same time.
  • the third control device and the first control device can be used to jointly control the first function and the third control device and the second control device can be used to jointly control the second function of the motor vehicle.
  • the third control unit would not only occur if the control system was operating incorrectly which the first and / or second control device does not function properly / does not function properly, also in the normal operation of the control system, in which all three control devices function properly, used to carry out the first and second functions of the motor vehicle.
  • an indirect signal-transmitting connection would also mean that, for example, the first and / or second control unit forwards an error message to a higher-level control unit by means of a signal-transmitting connection in the event of a fault, and the higher-level control unit then generates a corresponding output signal and transmits this to the third control unit .
  • the output signal of the higher-level control device thus leads to a configuration of the third control device in such a way that the function of the motor vehicle corresponding to the faulty control device can be controlled solely by means of the third control device.
  • the higher-level control device can be a central control device, for example.
  • control device is to be understood in general terms and denotes any type of electrical or electronic device for the automatic control of a function of a motor vehicle.
  • a particularly advantageous development of the control system according to the invention provides that, depending on the input of an error signal from the third control device, the first and the second control device in the first and the second control device can be configured in such a way that the first function of the motor vehicle can be controlled solely by means of the first control device and the second function of the motor vehicle can be controlled solely by means of the second control device. This ensures that the first and second functions of the motor vehicle, which correspond to the first control unit and the defective third control unit and to the second control unit and the defective third control unit, can still be carried out, at least in a kind of emergency mode.
  • the first and second control units are configured in such a way that the first function of the motor vehicle is performed solely by means of the first control unit and the second function of the motor vehicle can be controlled solely by means of the second control device.
  • control system has at least one actuator with an electric motor for performing the first or the second function of the motor vehicle, at least one first winding of the electric motor by means of the first or the second control device and at least one second winding of the electric motor can be controlled by means of the third control device, and wherein the second winding of the electric motor is designed in such a way that the second winding can be controlled with a second electrical power in a faulty operation of the control system, the second electrical power being higher than a first electrical power, with which the second winding can be controlled in normal operation of the control system.
  • the control system has at least one actuator with an electric motor for performing the first or second function of the motor vehicle, at least one first winding of the electric motor using the first or second control device and at least one second Winding of the electric motor are controlled by means of the third control device, and wherein the second winding of the electric motor in normal operation of the control system with a first electrical power and in an error mode of the control system, in which the first or the second control device does not function properly, with a second electrical power Power is controlled, wherein the second electrical power is higher than the first electrical power.
  • the first and second functions of the motor vehicle can be freely selected within wide, suitable limits.
  • a particularly advantageous development of the control system according to the invention provides, however, that the first function of the motor vehicle is designed as a braking function of the motor vehicle and the second function of the motor vehicle is designed as a steering function of the motor vehicle.
  • the first function of the motor vehicle is designed as a braking function of the motor vehicle and the second function of the motor vehicle is designed as a steering function of the motor vehicle.
  • Highly automated or autonomous motor vehicles are motor vehicles in which the vehicle driver only performs a certain control task, if at all. Highly automated or autonomous motor vehicles are therefore designed and set up to participate in road traffic essentially independently of the intervention of a vehicle driver.
  • the vehicle driver is more of a passenger than a decision maker who determines the functions of the motor vehicle.
  • autonomous is to be interpreted broadly to encompass various degrees of autonomous driving and autonomous motor vehicles.
  • a situation-dependent autonomous driving and thus situation-dependent autonomously driving motor vehicles should be mentioned here, in which, depending on the traffic situation and / or the driving maneuver to be carried out, autonomous driving takes place or not. Accordingly, one can also speak of automated driving and automated motor vehicles as an alternative.
  • control system provides that the third control device forms a structural unit with the first and / or the second control device. In this way, the compactness of the control system is further improved.
  • FIG. 1 an exemplary embodiment of a control system according to the invention for a motor vehicle is shown by way of example.
  • the control system has a first control device 2 for a first function and a second control device 4 for a second function of a motor vehicle, not shown in detail.
  • the motor vehicle is designed as an autonomous motor vehicle in which the functions of the motor vehicle are selected and executed essentially automatically by the motor vehicle.
  • the first function is designed as a braking function and the second function is designed as a steering function of the motor vehicle. Accordingly, the first control device 2 controls the braking function of the motor vehicle and the second control device 4 controls the steering function of the motor vehicle.
  • the first control unit 2 for controlling the braking function of the motor vehicle is in signal transmission connection with the first control unit designed as brakes Actuators 6 of the motor vehicle and the second control unit 4 is in signal transmission connection with a second actuator 8 of the motor vehicle designed as a steering system.
  • FIG Fig. 1 symbolized by solid arrows 2.1 and 4.1.
  • the brakes 6 and the steering 8 of the motor vehicle are safety-relevant and therefore very important functions of the motor vehicle. This applies to a greater extent to the selected exemplary embodiment, which is an autonomous motor vehicle.
  • the control system for the motor vehicle also has a third control unit 10 in addition to the two control units 2 and 4.
  • the third control device 10 is on the one hand in signal transmission connection with the first and the second control device 2 and 4, which is shown in FIG Fig. 1 is symbolized by the solid double arrows 10.1 and 10.2.
  • the third control device 10 is also in signal transmission connection with the brakes 6 and the steering 8. This is symbolized by the solid arrows 10.3 and 10.4.
  • the actuators 6 and 8 each have a six-phase electric motor, not shown, with three phases being designed as first windings and three other phases as second windings of the respective electric motor.
  • the first windings of the first actuators 6 can be controlled by means of the first control device 2 and the first windings of the second actuator 8 can be controlled by means of the second control device 4.
  • the second windings of the first actuators 6 and the second windings of the second actuator 8 can each be controlled by means of the third control device 10.
  • the second windings of the electric motors of the brakes 6 are designed in such a way that the second windings of these electric motors are in a faulty operation of the control system, for example in the case of a faulty first control device 2, can be controlled with a second electrical power, the second electrical power being higher than a first electrical power with which the second windings of the electric motors of the brakes 6 can be controlled in normal operation of the control system.
  • the brakes 6 are controlled by means of the first control device 2 for the braking function of the motor vehicle and by means of the third control device 10 and the steering 8 by means of the second control device 4 for the steering function of the motor vehicle and by means of the third control device 10 .
  • the control of the brakes 6 is carried out jointly by means of the first control unit 2 and the third control unit 10 and the control of the steering 8 is carried out jointly by means of the second control unit 4 and the third control unit 10 all three control devices 2, 4 and 10 are functioning properly, the first windings of the electric motors of the brakes 6 are controlled by the first control device 2 and the second windings of the electric motors of the brakes 6 are controlled by the third control device 10.
  • the steering function in which the first windings of the electric motor of the steering system 8 are controlled by the second control device 4 and the second windings of the electric motor of the steering system 8 are controlled by the third control device 10.
  • the need for a braking intervention by the first control unit 2 and the third control unit 10 or for a steering intervention by the second control unit 4 and the third control unit 10 is also indicated in a higher-level control unit, not shown, in a manner known to the person skilled in the art based on input signals from the higher-level control unit not shown sensors of the motor vehicle decided.
  • the control device 10 monitors the proper functioning of the first control device 2 and the second control device 4. Additionally or alternatively, it would be conceivable that this monitoring of the first and the second control device 2, 4 takes place in the above-mentioned higher-level control device. In the event of an error in at least one of the two control units 2 and 4, a corresponding error signal from the defective control unit 2 and / or 4 is applied to the third control unit 10 as an input signal.
  • the third control device 10 is configured in such a way that this is the Brake function of the motor vehicle controlled alone.
  • the third control device 10 is in signal exchange with the brakes 6 of the motor vehicle by means of the signal transmission connection 10.3.
  • the brakes 6 are therefore no longer jointly controlled by the first control device 2 and the third control device 10, but rather solely by the third control device 10.
  • the first windings and the second windings of the electric motors of the brakes 6 are controlled in normal operation of the control system with 50% of the nominal power of the respective electric motor, so that in normal operation for the brakes 6 100% of the nominal power of the respective electric motor result.
  • the second The windings of the electric motors of the brakes 6 are each driven with full load, namely with 70% of the nominal power of the respective electric motor, so that 70% of the nominal power of the respective electric motor results in the faulty operation for the brakes 6.
  • the second windings of the electric motors of the brakes 6 are thus only loaded with a partial load. Only in the faulty operation of the control system explained above are the second windings of the electric motors of the brakes 6 loaded with the respective full load. The service life of the second windings of the electric motors of the brakes 6 controlled by means of the third control device 10, and thus the service life of the brakes 6, is correspondingly increased.
  • the third control device 10 receives a corresponding error message regarding the second control device 4 via the signal transmission connection 10.2, whereupon the third control device 10 is configured in such a way that it controls the steering function of the motor vehicle alone.
  • the steering system 8 is therefore no longer jointly controlled by the faulty second control device 4 and the third control device 10, but rather solely by the third control device 10, specifically by means of the signal transmission connection 10.4.
  • the control system according to the invention not only ensures the execution of the first function in the case of a faulty first control device 2 or the execution of the second function in the case of a faulty second control device 4, at least in an emergency mode of the respective function, but also enables the first and second to be performed Function, at least in emergency mode, with a faulty first and faulty second control unit 2, 4 at the same time.
  • first and second control units 2, 4 in first and second control units 2, 4 can be configured in such a way that the braking function of the motor vehicle solely by means of of the first control device 2 and the steering function of the motor vehicle can be controlled solely by means of the second control device 4.
  • first and second control devices 2, 4 would be configured in such a way that the braking function of the motor vehicle solely by means of the first control device 2 and the steering function of the Motor vehicle are controlled solely by means of the second control unit 4.
  • the invention is not limited to the present embodiment.
  • the third control device forms a structural unit with the first and / or the second control device.
  • the compactness of the control system according to the invention is improved. This is possible, for example, if the respective control units are installed close to one another in their installation position, for example in an engine compartment of the motor vehicle.
  • first and second functions of the motor vehicle are not limited to the braking function and the steering function of the motor vehicle.
  • the execution of the at least one first and the at least one second winding of this electric motor is in wide suitable limits freely selectable.
  • the design of the individual windings of this electric motor and its control in normal operation and in faulty operation of a control system according to the invention are not limited to the exemplary embodiment explained above.
  • the invention also relates to a motor vehicle, comprising a control system according to the invention, a computer program product, comprising commands that cause the control system according to the invention, for example according to the present exemplary embodiment, to execute the method steps of the method according to the invention, for example according to the present exemplary embodiment, and a computer-readable medium on which the computer program product according to the invention is stored.

Claims (12)

  1. Système de commande pour un véhicule automobile, comprenant un premier appareil de commande (2) pour commander une première fonction du véhicule automobile et un deuxième appareil de commande (4) pour commander une deuxième fonction du véhicule automobile, le premier et le deuxième appareil de commande (2, 4) étant respectivement reliés pour la transmission de signaux à au moins un capteur et/ou à au moins un actionneur (6, 8) pour effectuer la fonction respective du véhicule automobile,
    caractérisé en ce que
    le système de commande présente un troisième appareil de commande (10) pour commander la première fonction et la deuxième fonction du véhicule automobile et qui est relié pour la transmission de signaux au premier et au deuxième appareil de commande (2, 4) ainsi qu'audit au moins un capteur et/ou audit au moins un actionneur (6, 8) correspondant respectivement au premier et au deuxième appareil de commande (2, 4) pour effectuer la fonction respective du véhicule automobile, et en fonction de l'arrivée d'un signal de défaut au troisième appareil de commande (10) en provenance du premier et/ou du deuxième appareil de commande (2, 4), le troisième appareil de commande (10) peut être configuré de telle sorte que la première et/ou la deuxième fonction du véhicule automobile correspondant à l'appareil de commande défectueux (2, 4) peut être commandée uniquement au moyen du troisième appareil de commande (10).
  2. Système de commande selon la revendication 1, caractérisé en ce qu'en fonction de l'arrivée d'un signal de défaut au premier et au deuxième appareil de commande (2, 4) en provenance du troisième appareil de commande (10), le premier et le deuxième appareil de commande (2, 4) peuvent être configurés de telle sorte que la première fonction du véhicule automobile peut être commandée uniquement au moyen du premier appareil de commande (2) et la deuxième fonction du véhicule automobile peut être commandée uniquement au moyen du deuxième appareil de commande (4).
  3. Système de commande selon la revendication 1 ou 2, caractérisé en ce que le système de commande présente au moins un actionneur (6, 8) doté d'un moteur électrique pour effectuer la première ou la deuxième fonction du véhicule automobile, au moins un premier enroulement du moteur électrique pouvant être piloté au moyen du premier ou du deuxième appareil de commande (2, 4) et au moins un deuxième enroulement du moteur électrique pouvant être piloté au moyen du troisième appareil de commande (10), et le deuxième enroulement du moteur électrique étant réalisé de telle sorte qu'en cas de fonctionnement défectueux du système de commande, le deuxième enroulement peut être piloté avec une deuxième puissance électrique, la deuxième puissance électrique étant supérieure à une première puissance électrique avec laquelle le deuxième enroulement peut être piloté en cas de fonctionnement normal du système de commande.
  4. Système de commande selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la première fonction du véhicule automobile est réalisée sous forme de fonction de freinage, et la deuxième fonction du véhicule automobile est réalisée sous forme de fonction de direction.
  5. Système de commande selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le troisième appareil de commande constitue une unité modulaire avec le premier et/ou le deuxième appareil de commande.
  6. Véhicule automobile, comprenant un système de commande doté d'un premier appareil de commande (2) pour commander une première fonction du véhicule automobile et d'un deuxième appareil de commande (4) pour commander une deuxième fonction du véhicule automobile, le premier et le deuxième appareil de commande (2, 4) étant respectivement reliés pour la transmission de signaux à au moins un capteur et/ou à au moins un actionneur (6, 8) pour effectuer la fonction respective du véhicule automobile, caractérisé en ce que le système de commande est réalisé selon l'une quelconque des revendications 1 à 5.
  7. Procédé de commande d'un véhicule automobile, dans lequel le véhicule automobile présente un premier appareil de commande (2) pour commander une première fonction du véhicule automobile et un deuxième appareil de commande (4) pour commander une deuxième fonction du véhicule automobile, et le premier et le deuxième appareil de commande (2, 4) étant respectivement reliés pour la transmission de signaux à au moins un capteur et/ou à au moins un actionneur (6, 8) pour effectuer la fonction respective du véhicule automobile,
    caractérisé en ce que
    le système de commande présente un troisième appareil de commande (10) pour commander la première fonction et la deuxième fonction du véhicule automobile et qui est relié pour la transmission de signaux au premier et au deuxième appareil de commande (2, 4) ainsi qu'audit au moins un capteur et/ou audit au moins un actionneur (6, 8) correspondant respectivement au premier et au deuxième appareil de commande (2, 4) pour effectuer la fonction respective du véhicule automobile, et en fonction de l'arrivée d'un signal de défaut au troisième appareil de commande (10) en provenance du premier et/ou du deuxième appareil de commande (2, 4), le troisième appareil de commande (10) est configuré de telle sorte que la première et/ou la deuxième fonction du véhicule automobile correspondant à l'appareil de commande défectueux (2, 4) est commandée uniquement au moyen du troisième appareil de commande (10).
  8. Procédé selon la revendication 7, caractérisé en ce qu'en fonction de l'arrivée d'un signal de défaut au premier et au deuxième appareil de commande (2, 4) en provenance du troisième appareil de commande (10), le premier et le deuxième appareil de commande (2, 4) sont configurés de telle sorte que la première fonction du véhicule automobile est commandée uniquement au moyen du premier appareil de commande (2) et la deuxième fonction du véhicule automobile est commandée uniquement au moyen du deuxième appareil de commande (4).
  9. Procédé selon la revendication 7 ou 8, caractérisé en ce que la première fonction du véhicule automobile est réalisée sous forme de fonction de freinage et la deuxième fonction du véhicule automobile est réalisée sous forme de fonction de direction.
  10. Procédé selon l'une quelconque des revendications 7 à 9, caractérisé en ce que le système de commande présente au moins un actionneur (6, 8) doté d'un moteur électrique pour effectuer la première ou la deuxième fonction du véhicule automobile, au moins un premier enroulement du moteur électrique étant piloté au moyen du premier ou du deuxième appareil de commande (2, 4) et au moins un deuxième enroulement du moteur électrique étant piloté au moyen du troisième appareil de commande (10), et en cas de fonctionnement normal du système de commande, le deuxième enroulement du moteur électrique est piloté avec une première puissance électrique, et en cas de fonctionnement défectueux du système de commande, il est piloté avec une deuxième puissance électrique, la deuxième puissance électrique étant supérieure à la première puissance électrique.
  11. Produit programme informatique, comprenant des instructions qui ont pour effet que le système de commande selon l'une quelconque des revendications 1 à 5 effectue les étapes de procédé du procédé selon l'une quelconque des revendications 7 à 10.
  12. Support lisible par ordinateur sur lequel est enregistré le produit programme informatique selon la revendication 11.
EP18785870.9A 2017-10-12 2018-09-28 Système de commande pour véhicule automobile, véhicule automobile, procédé de commande d'un véhicule automobile, produit programme informatique et support lisible par ordinateur Active EP3694759B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017218271.7A DE102017218271A1 (de) 2017-10-12 2017-10-12 Kontrollsystem für ein Kraftfahrzeug, Kraftfahrzeug, Verfahren zur Kontrolle eines Kraftfahrzeugs, Computerprogrammprodukt und computerlesbares Medium
PCT/EP2018/076455 WO2019072592A1 (fr) 2017-10-12 2018-09-28 Système de commande pour véhicule automobile, véhicule automobile, procédé de commande d'un véhicule automobile, produit programme informatique et support lisible par ordinateur

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EP3694759B1 true EP3694759B1 (fr) 2021-11-17

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WO (1) WO2019072592A1 (fr)

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DE102018213594A1 (de) * 2018-08-13 2020-02-13 Robert Bosch Gmbh Aktuator für ein hydraulisches Bremssystem
JP7200829B2 (ja) * 2019-06-03 2023-01-10 トヨタ自動車株式会社 車両システム
CN114750774B (zh) * 2021-12-20 2023-01-13 广州汽车集团股份有限公司 安全监测方法和汽车
DE202022101338U1 (de) * 2022-03-11 2023-06-21 Haldex Brake Products Aktiebolag Elektrisches Bremssystem
DE102022116353A1 (de) * 2022-06-30 2024-01-04 Ipgate Ag Fahrdynamiksystem für ein Fahrzeug mit Rädern, Schaltventil, inbesondere für ein entsprechendes Fahrdynamiksystem, Verfahren zum Einstellen eines Bremsdrucks, Primärsteuereinheit sowie Fahrzeug mit entsprechender Primärsteuereinheit

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US11440545B2 (en) 2022-09-13
CN111201174A (zh) 2020-05-26
US20200238992A1 (en) 2020-07-30
DE102017218271A1 (de) 2019-04-18
EP3694759A1 (fr) 2020-08-19
WO2019072592A1 (fr) 2019-04-18

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